robot::PlatformDescription Class Reference

Inheritance diagram for robot::PlatformDescription:

[legend]Collaboration diagram for robot::PlatformDescription:

[legend]List of all members.


Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	PlatformDescription ()
	PlatformDescription (String name, const base::Dimension3 &dimensions, const base::Vector3 &originOffset, bool mobile, bool holonomic=true, Real L=1, Real W=2)
	PlatformDescription (const PlatformDescription &p)
PlatformDescription &	operator= (const PlatformDescription &p)
void	set (String name, const base::Dimension3 &dimensions, const base::Vector3 &originOffset, bool mobile, bool holonomic=true, Real L=1, Real W=2)
virtual String	className () const
virtual bool	isMobile () const
	< is the robot mobile, or fixed (e.g. to the floor)?
virtual bool	isHolonomic () const
	< if mobile, is the platform capable of holonomic movement
virtual base::Dimension3	dimensions () const
	< physical platform bounding dimensions (Length, Width, Thickness)
virtual base::Vector3	originOffset () const
	< offset of platfom/robot origin from platform shape's origin
virtual Real	L () const
	< distance of nonholonomic platform drive axle back from platform origin
virtual Real	W () const
	< distance between nonholonomic platform steering axle and drive axle
virtual KinematicChain	getKinematicChain (Int platformDOF=0, const base::Matrix4 &platformTransform=base::Matrix4()) const
virtual Real	requiredSteeringAngle (const Vector &q, const Vector &qp) const
virtual bool	formatSupported (const String format, Real version=1.0, ExternalizationType type=IO) const
	query if specific format is supported (for input, output or both)
virtual void	externalize (base::Externalizer &e, String format="", Real version=1.0)
	read or write object state to Externalizer
virtual void	externalize (base::Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
virtual const String &	getName () const
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
virtual bool	isSameKindAs (const Object &) const
virtual bool	isSameKindAs (const ReferencedObject &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Member Functions
	PlatformDescription (String name)
void	setMobile (bool mobile)
void	setHolonomic (bool holonomic)
void	setDimensions (base::Dimension3 dimensions)
void	setOriginOffset (base::Vector3 originOffset)
void	setL (Real L)
void	setW (Real W)
virtual void	setName (const String &name)
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled
Friends
class	Robot

Detailed Description

An abstract description of a Robot's platform (typically the mobile base)

Definition at line 44 of file PlatformDescription.

Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

robot::PlatformDescription::PlatformDescription ( ) [inline]

Definition at line 47 of file PlatformDescription.
References base, and base::Dimension3.

robot::PlatformDescription::PlatformDescription ( String name,

const base::Dimension3 & dimensions,

const base::Vector3 & originOffset,

bool mobile,

bool holonomic = true,

Real L = 1,

Real W = 2

) [inline]

Definition at line 52 of file PlatformDescription.
References base::Dimension3.

robot::PlatformDescription::PlatformDescription ( const PlatformDescription & p ) [inline]

Definition at line 58 of file PlatformDescription.

robot::PlatformDescription::PlatformDescription ( String name ) [inline, protected]

Definition at line 137 of file PlatformDescription.

Member Function Documentation

virtual String robot::PlatformDescription::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Implements base::Object.
Definition at line 89 of file PlatformDescription.

virtual base::Dimension3 robot::PlatformDescription::dimensions ( ) const [inline, virtual]

< physical platform bounding dimensions (Length, Width, Thickness)

Definition at line 96 of file PlatformDescription.
References base::Dimension3.

void base::Referenced::enableOnUnreferenceCall ( bool enabled ) [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference()
Definition at line 115 of file Referenced.
References base::Referenced::onUnreferenceEnabled.

virtual void robot::PlatformDescription::externalize ( base::Externalizer & e,

String format = "",

Real version = 1.0

) const [inline, virtual]

write object state to Externalizer (throws if e is in Input)

Reimplemented from base::Externalizable.
Definition at line 133 of file PlatformDescription.

virtual void robot::PlatformDescription::externalize ( base::Externalizer & e,

String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Implements base::Externalizable.

virtual bool robot::PlatformDescription::formatSupported ( const String format,

Real version = 1.0,

ExternalizationType type = IO

) const [inline, virtual]

query if specific format is supported (for input, output or both)

Implements base::Externalizable.
Definition at line 130 of file PlatformDescription.

virtual KinematicChain robot::PlatformDescription::getKinematicChain ( Int platformDOF = 0,

const base::Matrix4 & platformTransform = base::Matrix4()

) const [virtual]

get an equivelent kinematic chain for this platform. The platform dof can either be 0, 3 or 6:

0-dof: the chain consists of a single link; a FixedTransform set to platformTransform (transform from world frame to platform origin)
3-dof: platform position in the 2D (x,y) plane with orientation theta about the Z-axis. The static components of the platform position are taken from platformTransform.
6-dof: platform position in 3D (x,y,z) and EulerRPY (roll, pitch, yaw) orientation. If the platform is not mobile, platformDOF is considered 0

virtual const String& base::Named::getName ( ) const [inline, virtual, inherited]

Definition at line 44 of file Named.
References base::String.
Referenced by physics::Collidable::findNamed(), physics::operator<<(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

virtual bool robot::PlatformDescription::isHolonomic ( ) const [inline, virtual]

< if mobile, is the platform capable of holonomic movement

Definition at line 93 of file PlatformDescription.

virtual bool robot::PlatformDescription::isMobile ( ) const [inline, virtual]

< is the robot mobile, or fixed (e.g. to the floor)?

Definition at line 91 of file PlatformDescription.

virtual bool base::ReferencedObject::isSameKindAs ( const ReferencedObject & ) const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual bool base::Object::isSameKindAs ( const Object & ) const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual Real robot::PlatformDescription::L ( ) const [inline, virtual]

< distance of nonholonomic platform drive axle back from platform origin

Definition at line 102 of file PlatformDescription.

void base::Externalizable::load ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

virtual void base::Referenced::onUnreference ( ) const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references
Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.
Definition at line 121 of file Referenced.
Referenced by base::Referenced::unreference().

PlatformDescription& robot::PlatformDescription::operator= ( const PlatformDescription & p ) [inline]

Definition at line 63 of file PlatformDescription.
References dims, base::Named::getName(), holonomic, mobile, nhL, nhW, offset, and base::Named::setName().

virtual base::Vector3 robot::PlatformDescription::originOffset ( ) const [inline, virtual]

< offset of platfom/robot origin from platform shape's origin

Definition at line 99 of file PlatformDescription.

void base::Referenced::reference ( ) const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it.
Definition at line 65 of file Referenced.
References base::Referenced::_refCount.

const int base::Referenced::referenceCount ( ) const [inline, inherited]

Return the number pointers currently referencing this object.
Definition at line 112 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual Real robot::PlatformDescription::requiredSteeringAngle ( const Vector & q,

const Vector & qp

) const [virtual]

utility method to compute the steering angle needed to move the non-holonomic platform from state q to qp. The dimension of q determines the platform DOF assumed (see getKinematicChain) - must be 0, 3 or 6. (since a 0-dof platform can't be controlled, 0 is returned)

void base::Externalizable::save ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

void robot::PlatformDescription::set ( String name,

const base::Dimension3 & dimensions,

const base::Vector3 & originOffset,

bool mobile,

bool holonomic = true,

Real L = 1,

Real W = 2

) [inline]

Definition at line 75 of file PlatformDescription.
References base::Dimension3, setDimensions(), setHolonomic(), setL(), setMobile(), base::Named::setName(), setOriginOffset(), and setW().

void robot::PlatformDescription::setDimensions ( base::Dimension3 dimensions ) [inline, protected]

Definition at line 141 of file PlatformDescription.
References base::Dimension3.
Referenced by set().

void robot::PlatformDescription::setHolonomic ( bool holonomic ) [inline, protected]

Definition at line 140 of file PlatformDescription.
Referenced by set().

void robot::PlatformDescription::setL ( Real L ) [inline, protected]

Definition at line 143 of file PlatformDescription.
Referenced by set().

void robot::PlatformDescription::setMobile ( bool mobile ) [inline, protected]

Definition at line 139 of file PlatformDescription.
Referenced by set().

virtual void base::Named::setName ( const String & name ) [inline, protected, virtual, inherited]

Reimplemented in physics::Collidable, physics::Solid, and robot::sim::BasicEnvironment::Obstacle.
Definition at line 47 of file Named.
References base::String.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

void robot::PlatformDescription::setOriginOffset ( base::Vector3 originOffset ) [inline, protected]

Definition at line 142 of file PlatformDescription.
Referenced by set().

void robot::PlatformDescription::setW ( Real W ) [inline, protected]

Definition at line 144 of file PlatformDescription.
Referenced by set().

bool base::Referenced::unreference ( ) const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.
Definition at line 81 of file Referenced.
References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

virtual Real robot::PlatformDescription::W ( ) const [inline, virtual]

< distance between nonholonomic platform steering axle and drive axle

Definition at line 105 of file PlatformDescription.